CN109895776A - Vehicle lane transformation - Google Patents
Vehicle lane transformation Download PDFInfo
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- CN109895776A CN109895776A CN201811504131.8A CN201811504131A CN109895776A CN 109895776 A CN109895776 A CN 109895776A CN 201811504131 A CN201811504131 A CN 201811504131A CN 109895776 A CN109895776 A CN 109895776A
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- 230000009466 transformation Effects 0.000 title abstract description 3
- 230000015654 memory Effects 0.000 claims abstract description 29
- 230000005055 memory storage Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 48
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims description 8
- 230000008569 process Effects 0.000 description 28
- 238000004891 communication Methods 0.000 description 25
- 230000005540 biological transmission Effects 0.000 description 15
- 230000001133 acceleration Effects 0.000 description 9
- 230000037230 mobility Effects 0.000 description 8
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- 230000007246 mechanism Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9316—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles combined with communication equipment with other vehicles or with base stations
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Present disclose provides " vehicle lane transformation ".A kind of system includes processor.The system comprises memory, the memory storage can be executed by the processor to carry out the instruction of the following terms: identification is away from the first vehicle distance to a declared goal and without the opposed area of another trolley；Identify the second vehicle in the second distance to a declared goal of the opposed area；The opposed area is transmitted to second vehicle；And within a specified time by first automobile navigation to the opposed area.
Description
Technical field
The present invention relates in the traffic in a kind of adjacent lane for identification with the presence or absence of open space make if there is
The open space system that then vehicle can navigate to adjacent lane.
Background technique
Vehicle can identify the open space in traffic, such as in the opening in adjacent lane and between other vehicles
Space.Vehicle can navigate to such open space.Vehicle can be based on from one or more sensors (for example, radar
Sensor, scanning laser rangefinder, light detection and ranging (LIDAR) image procossings such as device and video camera sensor)
Information detect open space.Based on the data from sensors with auxiliary electrode, vehicle can identify the current location of other vehicles
Open space between such vehicle.Based on the data from sensors with auxiliary electrode, vehicle can identify other vehicles (for example,
In other vehicles just in some lane with some speed travel vehicle) current track.However, for example, when detect
Vehicle change course (for example, changing Lane) when, the data from sensor are insufficient about the Future Positions of such vehicle.
Therefore, vehicle, which possibly can not detect, may interfere with one or more other vehicle for navigating to open space.
Summary of the invention
A kind of system includes processor.The system includes memory, the memory storage can by the processor execute with into
The instruction of row the following terms: identification is away from the first vehicle distance to a declared goal and without the opposed area of another trolley；Identification should
The second vehicle in second distance to a declared goal of opposed area；The opposed area is transmitted to second vehicle；And at the appointed time
It is interior by first automobile navigation to the opposed area.
The memory can store the instruction for carrying out following item: before it have passed through the specified time and by this
One automobile navigation is receiving disappearing including the opposed area and priority indication from second vehicle to before the opposed area
Forbid when breath by first automobile navigation to the opposed area.
The priority indication can specify mobility (maneuver).
The priority indication can specify class of vehicle.
The memory can store the instruction for carrying out following item: transmit the specified time and the opposed area.
The memory can store the instruction for carrying out following item: transmission release disappears after transmitting the opposed area
Breath.
The opposed area may include multiple positions and multiple times, and each position is associated with specific time.
The memory can store the instruction for carrying out following item: fail first vehicle within the specified time
Forbid when navigating to the opposed area by first automobile navigation to the opposed area.
The memory can store the instruction for carrying out following item: by first automobile navigation to the opposed area it
Afterwards and when receiving the message including the opposed area and priority indication from third vehicle by first automobile navigation from
Open the opposed area.
A kind of system includes vehicle sensors.The system includes propulsion system.The system includes steering system.The system packet
Computer is included, which is communicated with the vehicle sensors, the propulsion system and the steering system, which includes place
Manage device and memory, the instruction which can be executed by the processor to carry out the following terms: based on from the vehicle
The information of sensor is identified away from the first vehicle distance to a declared goal and without the opposed area of another trolley；Identify that this is opposite
The second vehicle in second distance to a declared goal in region；The opposed area is transmitted to second vehicle；And activate the propulsion system
With the steering system within a specified time by first automobile navigation to the opposed area.
The vehicle sensors can be one of LIDAR, sonar and video camera.
The memory, which can store, can be executed by the processor to carry out the instruction of following item: based on from the vehicle sensory
The information of device identifies second vehicle.
Memory, which can store, can be executed by the processor to carry out the instruction of following item: transmit the specified time and the phase
To region.
The memory, which can store, can be executed by the processor to carry out the instruction of following item: transmit the opposed area it
After transmit release message.
The opposed area may include multiple positions and multiple times, and each position is associated with specific time.
A kind of method includes identifying away from the first vehicle distance to a declared goal and without the opposed area of another trolley.The party
Method includes the second vehicle in the second distance to a declared goal for identify the opposed area.This method includes transmitting the phase to second vehicle
To region.This method includes within a specified time by first automobile navigation to the opposed area.
This method may include transmitting the specified time and the opposed area.
This method may include transmitting release message after transmitting the opposed area.
The opposed area may include multiple positions and multiple times, and each position is associated with specific time.
This method may include receiving after by first automobile navigation to the opposed area and from third vehicle
To include the message of the opposed area and priority indication when first automobile navigation left into the opposed area.
Computer can be programmed to execute this method.
Computer-readable medium, which can store, can be executed by computer processor to execute the program instruction of this method.
The computer-readable medium, which can store, can be executed by the computer processor to carry out the program instruction of following item:
It is received before it have passed through the specified time and before by first automobile navigation to the opposed area from second vehicle
To include the message of the opposed area and priority indication when forbid first automobile navigation to the opposed area.
The priority indication can specify mobility.
The priority indication can specify class of vehicle.
The computer-readable medium, which can store, to be executed by the computer processor to carry out the program instruction of following item:
Forbid when failing first automobile navigation within the specified time to the opposed area first automobile navigation is opposite to this
Region.
Detailed description of the invention
Fig. 1 is the block diagram for the component for the exemplary system for detecting the following navigation of one or more the second vehicle.
Fig. 2 is the perspective view of the example vehicle navigation road of Fig. 1.
Fig. 3 is the flow chart of the example process of the exemplary system of control figure 1.
Specific embodiment
With reference to Fig. 1 and Fig. 2, system 20 is by providing the advantageous arrangement including computer 26, sensor 36 and other component
The first vehicle 22 technological deficiency provided for vehicle lane change situation is provided, 22 edge of the first vehicle may interfere with detection
The following navigation (that is, plan or expected trajectory) of one or more the second vehicle 24 of road guide.For example, when the first vehicle 22
When all planning open space (for example, the region 28) navigate in target lane with the second vehicle 24, such as from target lane
When the lane navigation of opposite side, the first vehicle 22 can detecte to the second vehicle 24 lane for being located at the opposite side in target lane
In, and the open space navigate in target lane is can detecte to the plan of the second vehicle 24.System 20 includes having processing
The computer 26 of device and memory.Memory storage can be executed by processor to carry out the instruction of following item: identification is relative to vehicle
22 region 28 without the second vehicle 24.Opposed area 28 is by the position determining relative to the first vehicle 22 and the second vehicle 24
Coordinate is set to define.Memory storage can be executed by processor to carry out the instruction of following item: identification opposed area 28 is specified
Distance in one or more second vehicle 24 and to one or more second vehicle 24 transmit opposed area 28.Memory storage
It can be executed by processor to carry out the instruction of following item: the first vehicle 22 within a specified time being navigate into opposed area 28.
Opposed area 28 is the region relative to vehicle 22, usually the row of the traveling lane close to vehicle 22 on road
Sail the region in lane.Opposed area 28 is generally rectangular, and according to specified width, which width (being usually the road width detected)
Distance D1 (sometimes referred to as 28 length of region herein) (example between the second vehicle 24 by being travelled on same lane
Such as, being measured from the corresponding front/rear collision bumper of vehicle 24) length that determines defines.Distance D1 generally has to be more than to store most
Small distance threshold value, the minimum threshold of distance are selected as being enough to allow another trolley (for example, first vehicle 22) to be moved to vehicle
The distance of in road and occupied area 28.As discussed further below, computer 26 can store based on the various factors (for example,
Speed, road type etc.) minimum range table etc..Opposed area 28 changes over time, that is, as vehicle 22,24 is along road
Road travels and changes.
Vehicle
As shown in Figures 1 and 2, the first vehicle 22 can be any passenger stock or commercial vehicle, such as automobile, card
Vehicle, sports utility vehicle, transboundary vehicle, lorry, jubilee wagen, taxi, bus etc..Such as relative to the first vehicle 22
Usual driving direction, relative to orientation of driver etc. of operation vehicle, the first vehicle 22 has front 22f and rear portion 22r,
That is, front 22f is towards being typically considered forward direction, and rear portion 22r is towards being typically considered rearwardly direction.
First vehicle 22 can autonomous (for example, unmanned) mode, semi-autonomous mode and/or the operation of non-autonomous mode.
For the purpose of this disclosure, autonomous mode is defined as the propulsion system 30, braking system 32 and steering system of the first vehicle 22
Each of 34 modes controlled by one or more vehicle computers 26；In semi-autonomous mode, the one of the first vehicle 22
A or multiple computers 26 control one or two of vehicle propulsion system 30, braking system 32 and steering system 34；Non-
Under autonomous mode, each of these devices are all controlled by operator.
First vehicle 22 can additionally include sensor 36, navigation system 38 and vehicle-carrying communication network 40 for all
Such as computer 26, sensor 36, navigation system 38, propulsion system 30, braking system 32, between 34 vehicle part of steering system
Communication is provided.
The energy of storage is converted into the movement of vehicle 22 by the propulsion system 30 of vehicle.Propulsion system 30 can be known
Vehicle subsystem, for example, conventional power drive system comprising: it is connected to the internal combustion engine of speed changer, which will
Rotary motion is transmitted to wheel；Electric-powered transmission system comprising battery, electric motor and transmit rotary movement to wheel
Speed changer；Hybrid power transmission system comprising the element of conventional power drive system and electric-powered transmission system；Or
The propulsion system 30 of any other type.Propulsion system 30 communicated with vehicle computer 26 and/or driver and from its
Middle reception input.Driver can control propulsion system 30 via input unit (for example, accelerator pedal and/or gear lever).
Braking system 32 can be conventional vehicle subsystem, can resist the movement of vehicle, thus subtract vehicle 22
Speed and/or stopping.Braking system 32 can be friction brake, such as disk brake, drum brake, band brake
Deng；Regeneration brake；Parking brake；The brake of any other suitable type；Or their combination.Braking system 32 can
To include electronic control unit (ECU) etc., such as cause under the order from vehicle computer 26 and/or from driver
Move the movement of the braking system 32 to resist vehicle 22.Driver can control via input unit (for example, brake pedal)
Braking system 32.
Steering system 34 is usually conventional Vehicular turn subsystem and the turning for controlling wheel.Steering system 34 and side
Communication is carried out to disk and/or vehicle computer 26 and is inputted from wherein receiving.Steering system 34 includes having electric boosted turn
To rack pinion system, wire-controlled steering system or any other suitable system.
Vehicle sensors 36 can detecte the internal state of vehicle 22, such as wheel speed, wheel orientation, tire pressure, suspension
Stroke, braking sensor, polling power controlling sensor and engine and transmission variable.
Vehicle sensors 36 can detecte position and/or the orientation of vehicle 22, the sensor such as global positioning system
(GPS) sensor；Accelerometer, such as piezoelectricity or MEMS (MEMS)；Gyroscope, such as rate, loop laser or light
Fiber gyroscope；Inertia measurement unit (IMU)；And magnetometer.
Vehicle sensors 36 can detecte the external world, these sensors such as light measuring sensor, photometer, microphone, wind
Fast measurement sensor, radar sensor, scanning laser rangefinder, light detection and ranging (LIDAR) device and video camera etc.
Image procossing sensor.
Vehicular navigation system 38 can be for example by being determined for position and orientation of first vehicle 22 on map
Geographical coordinate and data determine position and the orientation of the first vehicle 22, such as compass boat according to the map in compass course
To.
Map datum can specify the position of road covering and about road and position neighbouring and/or close to road
Data, the quantity in the lane of road, one or more driveway travel directions, parking location etc..
May include about the routine datas such as road, terrestrial reference (for example, geographical coordinate) map datum can store this
Ground is such as stored in 26 memory of vehicle computer (being discussed below), is medium in Vehicular navigation system 38, and/or remotely depositing
Storage, is such as stored in remote computer.
Vehicular navigation system 38 can rely on information from Global Navigation Satellite System, from the biography for being attached to vehicle 22
The distance number of the vehicle sensors 36 (such as gyroscope, accelerometer, magnetometer and/or other vehicle sensors 36) of dynamic system
According to.Example vehicle navigation system 38 includes that known GPS (global positioning system) navigation device, personal navigation apparatus and automobile are led
One or more of boat system.
Vehicle-carrying communication network 40 includes the hardware for promoting the communication between 22 component of vehicle, such as communication bus.Vehicle
Carry communication network 40 can according to such as controller LAN (CAN), Ethernet, WiFi, local interconnection network (LIN) and/or
The various communications protocols such as other wired or wireless mechanism promote the wired or wireless communication between 22 component of vehicle, the component
Such as computer 26, braking system 32, propulsion system 30, steering system 34, sensor 36, navigation device 38 etc..
It is included in the first vehicle 22 via the vehicle computer 26 that circuit, chip, antenna and/or other electronic components are implemented
In with for executing various operations and process comprising those described herein operation and process.Vehicle computer 26 is usual
Computing device including processor and memory, the memory include the computer-readable medium of one or more forms and deposit
Storage can be executed by processor to include the various instructions operated with process of those disclosed herein for executing.It can be by depositing
Storage can program vehicle computer 26 by the instruction that processor executes on reservoir.
The usually also storage of the memory of vehicle computer 26 is via the received teledata of various communication mechanisms；For example, vehicle
Computer 26 is typically configured to and the vehicle in vehicle-carrying communication network 40 (for example, controller LAN (CAN) bus)
Component is communicated, and for using other wired or wireless agreements and outside vehicle device (for example, one or more the
Two vehicles 24 etc.) (for example, via universal serial bus (USB),IEEE 802.11 (is colloquially called)、
The cellular protocols such as satellite telecommunications agreement and 3G, LTE) it is communicated.Although showing a vehicle for ease of description
Computer 26, it should be understood that, vehicle computer 26 may include one or more computing devices, and be described herein
Various operations can be executed by one or more computing devices.
Vehicle computer 26 can be programmed to through identification adjacent lane (that is, close to and not the lane of middle lane)
In region identify opposed area 28, wherein the distance between vehicle 24 in adjacent lane D1 is more than threshold distance, such as
It is selected as the distance for being enough to make vehicle 22 safely to move into adjacent lane.In addition, computer 26 can be programmed to limit
Opposed area 28 is identified as the region in adjacent lane in the distance to a declared goal of vehicle 22.In one example, distance to a declared goal is
The distance between front bumper 22f of the 28f of edge foremost in region 28 and vehicle 22, region 28 the 28f of edge foremost and vehicle
The distance between the distance between 22 rear bumper 22r, the final edge 28r in region 28 and front bumper 22f of vehicle 22
Smaller in the distance between rear bumper 22r of the D2 or final edge 28r in region 28 and vehicle 22.In some cases
Under, distance to a declared goal must be negative, that is, certain parts of vehicle 22 must be Chong Die with region 28.In other examples, distance to a declared goal
It can have positive value.
Distance to a declared goal can be based on the speed of vehicle 22,24, such as the speed of vehicle 22 and/or vehicle 24 is bigger, specifies
Distance is bigger.Distance to a declared goal can be based on the relative velocity between vehicle 22,24.For example, working as the speed and second of vehicle 22
When difference between the speed of one of vehicle 24 is lower than threshold quantity (for example, 3 miles per hour), distance to a declared goal can be negative.When
When difference between the speed of one of the speed of vehicle 22 and the second vehicle 24 is higher than threshold quantity, distance to a declared goal can be positive.
Vehicle computer 26 can based on such as via vehicle-carrying communication network 40 from sensor 36, navigation system 38 receive
Information identify opposed area 28.For example, the information from LIDAR sensor can be used to identify one in vehicle computer 26
The position and map datum of platform or more the second vehicles 24 relative to the first vehicle 22.For the purpose of this disclosure, " position "
The point on earth surface, and generally according in known coordinate system coordinate (such as it is specified can be in global positioning system
(GPS) geographical coordinate of latitude and longitude used in) or the coordinate system that defines relative to object (such as in vehicle 22,24
Or thereon with the cartesian coordinate system or polar coordinate system of origin) in coordinate specify.
Can track the corresponding position of one or more the second vehicle 24 at any time, for example, with determine one or more second
Speed, acceleration, course of vehicle 24 etc..Position, speed, acceleration, course etc. can be used for predicting one or more second
The Future Positions of vehicle 24.For example, based on the traveling in same lane and therebetween with two the second vehicles of some distance D1
24 position and speed, vehicle computer 26 can predict such second vehicle 24 in some following time quantum (such as 5 seconds)
Position comprising the amount (space sometimes referred to as between vehicle 24) of the distance between second vehicle 24 D1.
As set forth above, it is possible to determine opposed area 28, wherein the length of opposed area 28 is (that is, the vehicle in adjacent lane
The distance between 24 D1) meet or more than minimum threshold of distance.The threshold value minimum length of opposed area 28 can be based on can be with base
The various factors (for example, 22 speed of vehicle) determined in real time in sheet, and can store based on its value in 26 memory of computer
In the factor (for example, the wheelbase of the first vehicle 22, such as the length of opposed area 28 should always be greater than the wheelbase of vehicle 22).
28 length of threshold value Minimum Area is also based on one or more speed of the second vehicle 24, such as speed is higher, minimum length
Threshold value is bigger.Region 28 is referred to as " opposite ", because the position (that is, being determined by GPS coordinate etc.) in region 28 becomes at any time
Change, that is, moved as described above as the vehicle 24 of definition region 28 is mobile.
Vehicle computer 26 can predict the following opposed area 28 of the one or more in corresponding future time.Example
Such as, computer 26 can predict that the space between the second vehicle 24, such as the position of 24 front bumper of the first vehicle can identify
The starting point of the distance D1 in the space is defined, and at speed, acceleration, the course etc. for determining one or more the second vehicle 24
Current time after 5 seconds time, the position of the second vehicle 24 can define the terminal for defining the distance D1 in the space.Equally
Can after current time 1.0 seconds time similar prediction, etc. is carried out to opposed area 28.Therefore, computer 26 can
Opposed area 28 is predicted as the function of time, for example including initial position, initial velocity, acceleration etc..For example, can basis
The current position coordinates of opposed area 28 plus vehicle 24 present speed multiplied by time quantum, plus acceleration half multiplied by when
The area of a room square determines the opposed area 28 of prediction, when wherein the time quantum is the future of current time and prediction opposed area 28
Between between time quantum.Other technologies can be used to identify opposed area 28.
Computer 26 can be based on the use from sensor 36 (such as LIDAR sensor, ultrasonic sensor, video camera etc.)
Opposed area 28 is identified in the data of identification opposed area 28.Computer 26 can be according to 22 wheelbase of vehicle, the first vehicle 22
Present speed, current driving road rate limitation, the ability (for example, acceleration capacity) of the first vehicle 22 etc. determine as above
The minimum length threshold referred to for opposed area 28.
Specified time for lane changing (that is, vehicle 22 is moved in opposed area 28) can be empirically determined,
Such as based on for predicting that opposed area 28 is determined in the accuracys of the various technologies of the position of some the following time.For example,
If a kind of technology, which is illustrated as having in the time in future 95%, accurately predicts opposed area 28 for two seconds, and in future 50%
Time in have three seconds accurately predict opposed area 28, then the more accurate time can be used.Based on factors such as speed
Specified time or during one group of specified time can store in the memory of vehicle computer 26, such as is stored in table etc..
Specified time can be based on velocity and acceleration of second vehicle 24 before and after opposed area 28, for example, if the second vehicle of front
24 travel slowly than the second vehicle of rear 24, then the space 24 between the second vehicle will be reduced with some rate.Computer 26 can
Specified time is determined to use the minimum threshold of distance of this reduced rate and opposed area 28, such as makes space
Length will not be reduced to minimum threshold of distance or less.Other technologies can be used to determine specified time.
Vehicle computer 26 is programmed to the second vehicle 24 in the distance to a declared goal of identification opposed area 28.Vehicle computer
26 can based on from one or more vehicle sensors 36 information (such as from via vehicle-carrying communication network 40 from LIDAR
The received information of sensor) identify the second vehicle 24.As described above, vehicle computer 26 can identify the position of the second vehicle 24
It sets, speed, acceleration, course etc..
The distance to a declared goal of second vehicle 24 to opposed area 28 can position based on the second vehicle 24, speed, acceleration
Etc. determining, and it is measured as from vehicle 24 front bumper 22f or rear bumper 22r to such as leading edge 28f or back edge
The distance of the position in the region 28 at 28r.In addition, for example can choose distance to a declared goal, allow the second vehicle 24 specified
Opposed area 28 (as described above) is navigate in time.
Vehicle computer 26 is programmed to transmit to other vehicles and receives message and information from other vehicles.For example, vehicle
Computer 26 can via vehicle to vehicle communication (e.g., including DSRC (dedicated short-range communication) etc.) with one or more the
Two vehicles 24 are communicated.Alternatively or additionally, this communication can be transmitted via wide area network 42.By vehicle computer 26
The message and information for being transferred to one or more the second vehicle 24 may include opposed area 28, specified time, release message etc..
It may include opposed area 28 by the received message and information for one or more the second vehicle 24 of vehicle computer 26, excellent
First grade instruction etc..
Transmission opposed area 28 includes the plan that specified transmission vehicle 22,24 navigates to opposed area 28.In other words, it passes
Therefore defeated vehicle 22,24 seeks reserved opposed area 28, that is, indicate that other vehicles 22,24 not occupy phase within a specified time
To region 28, even if some or all of region 28 may seem to occupy for another trolley 22,24, (such as lane becomes
Change) it is also such.It is within a specified time navigate to including specified time and the instruction transmission plan of vehicle 22,24 of opposed area 28
Opposed area 28.
The specified transmission vehicle 22,24 of release message, which does not replan, navigates to opposed area 28.In other words, vehicle is transmitted
22, therefore 24 discharge it to the reserved of opposed area 28.
Priority indication designated vehicle 22,24 is planned to navigate to the priority of opposed area 28, for example, working as more trolleys
22, the priority used when 24 plans navigate to opposed area 28.For example, the vehicle 22,24 with higher priority can be led
It navigates to opposed area 28, and the vehicle 22,24 with lower priority can be forbidden navigating to opposed area 28.
Priority indication can specify the mobility of plan.Mobility is the track of vehicle 22,24, that is, to speed
The description changed over time with course.Such as, it is possible to specify mobility, to adapt to turn on road, converges for changing Lane
Flow to highway or leave highway etc..This mobility may need to execute in time, such as turn to avoid missing
Or the chance of confluence.For example, mobility may include changing Lane with surmount another trolley 22,24, with other vehicles 22,
24 form into columns traveling effectively to travel.It is such it is motor-driven may be smaller to time sensitivity because may there is additional opportunity to surmount, compile
Team's traveling etc..Various mobilities and priorities associated can store in the memory of vehicle computer 26, such as be stored in
In look-up table etc..For example, changing Lane turning can be associated with higher priority is surmounted than changing Lane.
The priority indication can specify class of vehicle.Class of vehicle is the type or type of vehicle 22,24.Exemplary cart
Classification may include emergency vehicles (such as police car, fire engine, ambulance etc.), commerial vehicle (such as half truck, dispensing vehicle
, bus etc.) and personal vehicles (such as car, SUV etc.).Various class of vehicle and priorities associated can store
In the memory of vehicle computer 26, such as it is stored in look-up table etc..For example, emergency vehicles can with it is higher than personal vehicles
Priority it is associated.
Vehicle computer 26 can be programmed to the first vehicle 22 of operation.For example, vehicle computer 26 can for example via
Vehicle-carrying communication network 40 and based on the information from sensor 36 and navigation system 38 to steering system 34, propulsion system 30
And/or the transmission instruction of braking system 32.For example, can to operate the first vehicle 22 motor-driven to occupy to execute for vehicle computer 26
(that is, move into) opposed area 28 is moved away from opposed area 28 etc..
Wide area network
(the sometimes referred to as wide area network 42, because it may include geographically away from each other (that is, not building same of network 42
Build in object, vehicle etc.) device between communication) indicate remote-control device (for example, vehicle computer 26, one or more second
Vehicle 24 etc.) the one or more mechanism that can communicate with one another with it.Therefore, network 42 can be one or more wired or nothing
Line communication mechanism comprising wired (for example, cable and optical fiber) and/or wireless (for example, honeycomb, wireless, satellite, microwave and penetrating
Frequently any desired combination of communication mechanism and any desired network topology (or topology when using a variety of communication mechanisms)).Show
Example property communication network 42 includes providing the cordless communication network of data communication services (for example, using bluetooth, IEEE 802.11
Deng), local area network (LAN) and/or wide area network (WAN) comprising internet.
Process
Fig. 3 is the following navigation shown for detecting one or more the second vehicle 24 and is used for first vehicle 22 that navigates
Carry out the process flow diagram flow chart of the example process 300 of changing Lane.It can be according to being stored in computer 26 and can be by computer
The instruction of execution carrys out implementation procedure 300.
Process 300 starts in block 305, and wherein computer 26 is for example via vehicle communication network from for example as described herein
Sensor 36, navigation system 38, one or more the second vehicle 24 etc. receive (for example, in message) data.Computer 26
It can continue to receive data in whole process 300.Whole process 300 is indicated herein essentially continuously or with time interval
(for example, every 100 milliseconds) carry out.
Next, at frame 310, computer 26 for example based on received in block 305 and data as described herein come
Identify the opposed area 28 of the within the threshold range of the first vehicle 22.
Next, computer 26 determines whether for example to receive from one or more second vehicle 24 at frame 315
Opposed area 28.Determining that process 300 moves to frame 320 when opposed area 28 has been received.It is not yet received relatively determining
When region 28, process 300 moves to frame 325.
At frame 320, computer 26, which determines whether to receive, indicates that priority is excellent lower than the priority of the first vehicle 22
First grade instruction and opposed area 28.Determining that process 300 moves to frame 325 when receiving such priority indication.In determination
When being not received by such priority indication, process 300 moves to frame 305.
Next, at frame 325, within the threshold range from computer 26 to the first vehicle 22 one or more second vehicle
24 transmission opposed areas 28.For example, computer 26 can transmit the instruction of opposed area 28 and threshold distance, such as make second
Vehicle 24 can be for example by being compared the opposed area 28 of transmission with the current location for receiving the second vehicle 24 from true
It is fixed they whether transmission opposed area 28 within the threshold range.Computer 26 can transmit the preferential of the first vehicle 22 of instruction
The priority indication and opposed area 28 of grade.
Next, computer 26 determines whether from for example with than 22 higher priority of the first vehicle at frame 330
One or more second vehicle 24 receive priority indication, as described herein.Priority indication has been received in determination
When, process 300 returns to frame 305.Determining that process 300 moves to frame 335 when not yet receiving priority indication.
At frame 335, whether computer 26 determined since transmitting opposed area 28 for example as described herein
Specified time is spent.Determining that process 300 returns to frame 305 when have passed through specified time.Not yet pass through specified time determining
When, process 300 moves to frame 340.
At frame 340, computer 26 is for example by based on from the instruction propulsion of the information of sensor 36 and navigation system 38
Device 30, steering system 34 and/or braking system 32 come control the first vehicle 22 execute it is motor-driven to occupy opposed area 28.
Next, at frame 345, computer 26 determine whether from have than 22 higher priority of the first vehicle the
Two vehicles 24 receive the message including priority indication and opposed area 28, such as indicate that the plan of the second vehicle 24 navigates to now
In the opposed area 28 occupied by the first vehicle 22.Determining that process 300 returns to frame when not yet receiving priority indication
305.Determining that the process moves to frame 350 when priority indication has been received.
At frame 350, computer 26 controls the first vehicle 22 far from opposed area 28, such as changing Lane, moves to road
Side etc..
After frame 350, process 300 can terminate.Alternatively, process 300 may return to frame 305.
It summarizes
Computing device generally includes computer executable instructions, and wherein the instruction can be by such as those listed above meter
One or more computing devices such as device are calculated to execute.Computer executable instructions can from use various programming languages and/or
The computer program compiling or interpretation of technology creation, the programming language and/or technology include but is not limited to either individually or in combination
JavaTM,C,C++,Visual Basic,Java Script,Perl.These application in it is some can virtual machine (such as
Java Virtual Machine, Dalvik virtual machine etc.) on compile and execute.In general, processor (for example, microprocessor) is for example from storage
The receptions such as device, computer-readable medium instruction, and these instructions are executed, thus execute one or more processes comprising this
One or more processes described in text.A variety of computer-readable mediums can be used to store and transmit such instruction and other numbers
According to.
Computer readable storage medium (also referred to as processor readable medium) includes participation offer can be by computer (example
Such as, by the processor of computer) (for example, tangible) medium of any non-transitories of data (for example, instruction) for reading.This
Kind medium can take many forms, including but not limited to non-volatile media and Volatile media.Non-volatile media can be with
Including such as CD or disk and other long-time memories.Volatile memory may include (for example) typically comprising primary storage
The dynamic random access memory (DRAM) of device.Such instruction can by one or more transmission mediums (including coaxial cable,
Copper wire and optical fiber (including having the conducting wire of the system bus for the processor for being connected to computer)) transmission.The calculating of common form
Machine readable medium includes (for example) floppy disc, floppy disk, hard disk, tape, any other magnetic medium, CD-ROM, DVD, Ren Heqi
His any optical medium, punched card, paper tape, any other physical medium with perforation pattern, RAM, PROM, EPROM,
Any other medium that FLASH-EEPROM, any other storage chip or cassette tape or computer can therefrom be read.
In some instances, system element may be implemented as one or more computing devices (for example, server, individual
Computer etc.) on, the computer that is stored on computer-readable medium associated there on (for example, disk, memory etc.)
Readable instruction (for example, software).Computer program product may include that may be stored on the computer-readable medium for executing this paper
Such instruction of the function.
About medium as described herein, process, system, method etc., it should be appreciated that although by this class process etc.
The step of be described as occurring according to some ordered sequence, but this class process can be used with the sequence except sequence described herein
The described step executed is practiced.It is to be further understood that may be performed simultaneously certain steps, other steps can be added,
Or it can be omitted certain steps as described herein.It in other words, is herein to show certain to the description of system and/or process
A little embodiments and provide, and should in no way be understood as limiting disclosed theme.
The disclosure is illustratively described, and it should be understood that the term intention used has
Descriptive words rather than restricted property.In view of above teaching, many modifications and variations of the disclosure are possible, and this
Disclosure can be different from the other modes of specific descriptions to practice.
Unless otherwise indicated or context requires otherwise, and otherwise the article " one " of modification noun should be understood as one
Or it is multiple.Phrase " being based on " includes partly or entirely being based on.
According to the present invention, a kind of system is provided, which includes processor；And memory, the memory storage can be by
The processor is executed to carry out the instruction of the following terms: being identified away from the first vehicle distance to a declared goal and without another trolley
Opposed area；Identify the second vehicle in the second distance to a declared goal of the opposed area；The opposed area is transmitted to second vehicle；
And within a specified time by first automobile navigation to the opposed area.
According to embodiment, which also stores the instruction for carrying out following item: before it have passed through the specified time
And it is received from second vehicle including the opposed area and preferential before by first automobile navigation to the opposed area
Forbid when the message of grade instruction by first automobile navigation to the opposed area.
According to embodiment, the priority indication designated vehicle is motor-driven.
According to embodiment, the priority indication designated vehicle classification.
According to embodiment, which also stores the instruction for carrying out following item: transmitting the specified time and the phase
To region.
According to embodiment, which also stores the instruction for carrying out following item: passing after transmitting the opposed area
Defeated release message.
According to embodiment, which may include multiple positions and multiple times, each position and specific time phase
Association.
According to embodiment, which also stores the instruction for carrying out following item: failing to incite somebody to action within the specified time
Forbid when first automobile navigation is to the opposed area by first automobile navigation to the opposed area.
According to embodiment, which also stores the instruction for carrying out following item: by first automobile navigation to should
After opposed area and when receiving the message including the opposed area and priority indication from third vehicle by this first
Automobile navigation leaves the opposed area.
According to the present invention, a kind of system is provided, which has vehicle sensors；Propulsion system；Steering system；And meter
Calculation machine, the computer are communicated with the vehicle sensors, the propulsion system and the steering system, which includes processor
And memory, the instruction which can be executed by the processor to carry out the following terms: based on from the vehicle sensory
The information of device is identified away from the first vehicle distance to a declared goal and without the opposed area of another trolley；Identify the opposed area
The second distance to a declared goal in the second vehicle；The opposed area is transmitted to second vehicle；And it activates the propulsion system and is somebody's turn to do
Steering system is within a specified time by first automobile navigation to the opposed area.
According to embodiment, which is one of LIDAR, sonar and video camera.
According to embodiment, which, which also stores, can be executed by the processor to carry out the instruction of following item: based on coming from
The information of the vehicle sensors identifies second vehicle.
According to embodiment, which, which also stores, can be executed by the processor to carry out the instruction of following item: being transmitted this and referred to
It fixes time and the opposed area.
According to embodiment, memory, which also stores, can be executed by processor to carry out the instruction of following item: transmit opposite area
The instruction of release message is transmitted after domain.
According to embodiment, which may include multiple positions and multiple times, each position and specific time phase
Association.
According to the present invention, a kind of method includes: identification away from the first vehicle distance to a declared goal and without another trolley
Opposed area；Identify the second vehicle in the second distance to a declared goal of the opposed area；The opposed area is transmitted to second vehicle；
And within a specified time by first automobile navigation to the opposed area.
According to embodiment, foregoing invention is further characterized in that, transmits the specified time and the opposed area.
According to embodiment, foregoing invention is further characterized in that, transmits release message after transmitting the opposed area.
According to embodiment, which may include multiple positions and multiple times, each position and specific time phase
Association.
According to embodiment, foregoing invention is further characterized in that, after by first automobile navigation to the opposed area simultaneously
And first automobile navigation is left this when receiving the message including the opposed area and priority indication from third vehicle
Opposed area.
Claims (15)
1. a kind of method comprising:
Identification is away from the first vehicle distance to a declared goal and without the opposed area of another trolley；
Identify the second vehicle in the second distance to a declared goal of the opposed area；
The opposed area is transmitted to second vehicle；And
Within a specified time by first automobile navigation to the opposed area.
2. the method as described in claim 1 further includes transmitting the specified time and the opposed area.
3. the method as described in claim 1 further includes transmitting release message after transmitting the opposed area.
4. the method as described in claim 1, wherein the opposed area includes multiple positions and multiple times, each position with
Specific time is associated.
5. the method as described in claim 1, further include after by first automobile navigation to the opposed area simultaneously
And when receiving the message including the opposed area and priority indication from third vehicle by first automobile navigation from
Open the opposed area.
6. a kind of computer is programmed to execute the method as described in any one of claims 1 to 5.
7. a kind of computer-readable medium, storage can be executed by computer processor to execute as any in claim 1 to 5
The program instruction of method described in.
8. computer-readable medium as claimed in claim 7, also storage can be executed by the computer processor to carry out
The program instruction of following item: before it have passed through the specified time and by first automobile navigation to the opposed area
Forbid before when receiving the message including the opposed area and priority indication from second vehicle by described first
Automobile navigation is to the opposed area.
9. computer-readable medium as claimed in claim 8, wherein the priority indication designated vehicle is motor-driven.
10. computer-readable medium as claimed in claim 8, wherein the priority indication designated vehicle classification.
11. computer-readable medium as claimed in claim 7, also storage can be executed by the computer processor to carry out
The program instruction of following item: forbid when failing first automobile navigation within the specified time to the opposed area
By first automobile navigation to the opposed area.
12. a kind of system comprising:
Vehicle sensors；
Propulsion system；
Steering system；With
Computer is communicated with the vehicle sensors, the propulsion system and the steering system, the computer packet
Processor and memory are included, the memory storage can be executed by the processor to carry out the instruction of the following terms:
It is identified based on the information from the vehicle sensors away from the first vehicle distance to a declared goal and without another trolley
Opposed area；
Identify the second vehicle in the second distance to a declared goal of the opposed area；
The opposed area is transmitted to second vehicle；And
The propulsion system and the steering system are activated within a specified time will be described
First automobile navigation is to the opposed area.
13. system as claimed in claim 12, wherein the memory also store can by the processor execute with based on Lai
The instruction of second vehicle is identified from the information of the vehicle sensors.
14. system as claimed in claim 12, wherein the memory also store can by the processor execute to transmit
The instruction of release message is transmitted after the opposed area.
15. the system as described in any one of claim 12 to 14, wherein the vehicle sensors are LIDAR, sonar and take the photograph
One of camera.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/837,556 US10377383B2 (en) | 2017-12-11 | 2017-12-11 | Vehicle lane change |
| US15/837,556 | 2017-12-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109895776A true CN109895776A (en) | 2019-06-18 |
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| CN (1) | CN109895776A (en) |
| DE (1) | DE102018131643A1 (en) |
Cited By (1)
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| WO2024037375A1 (en) * | 2022-08-17 | 2024-02-22 | 中国移动通信集团河北有限公司 | Traffic area lock control method and apparatus, device, and storage medium |
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| US20220227390A1 (en) * | 2021-01-15 | 2022-07-21 | Tusimple, Inc. | Proactive lane change for autonomous vehicles |
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| WO2024037375A1 (en) * | 2022-08-17 | 2024-02-22 | 中国移动通信集团河北有限公司 | Traffic area lock control method and apparatus, device, and storage medium |
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| Publication number | Publication date |
|---|---|
| US10377383B2 (en) | 2019-08-13 |
| DE102018131643A1 (en) | 2019-06-13 |
| US20190176830A1 (en) | 2019-06-13 |
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